Control system to dampen structural oscillations of vehicle implements

A non-transitory computer-readable medium comprising instructions that, when executed by one or more processors, cause the one or more processors to perform operations for damping oscillations of an implement of a vehicle while the vehicle is moving, the operations comprising:

• capturing sensor data using one or more sensors that are attached to the vehicle;
• analyzing the sensor data to extract symmetric oscillation information and asymmetric oscillation information from the sensor data, wherein extracting the symmetric oscillation information includes extracting a frequency and a phase corresponding to symmetric oscillations of the vehicle, and wherein extracting the asymmetric oscillation information includes extracting a frequency and a phase corresponding to asymmetric oscillations of the vehicle;
• generating (i) a speed damping signal using the frequency and the phase corresponding to the symmetric oscillations and (ii) a steering damping signal using the frequency and the phase corresponding to the asymmetric oscillations, wherein the steering damping signal is generated by extracting a signal from the sensor data having the frequency corresponding to the asymmetric oscillations, time-shifting the extracted signal based on the phase corresponding to the asymmetric oscillations, and scaling the extracted signal;
• and
• modifying a movement of the vehicle using the speed damping signal and the steering damping signal.

A system for damping oscillations of an implement of a vehicle while the vehicle is moving, the system comprising:

• one or more processors;
• and
• a computer-readable medium comprising instructions that, when executed by the one or more processors, cause the one or more processors to perform operations comprising:
• capturing sensor data using one or more sensors that are attached to the vehicle;
• analyzing the sensor data to extract symmetric oscillation information and asymmetric oscillation information from the sensor data, wherein extracting the symmetric oscillation information includes extracting a frequency and a phase corresponding to symmetric oscillations of the vehicle, and wherein extracting the asymmetric oscillation information includes extracting a frequency and a phase corresponding to asymmetric oscillations of the vehicle;
• generating (i) a speed damping signal using the frequency and the phase corresponding to the symmetric oscillations and (ii) a steering damping signal using the frequency and the phase corresponding to the asymmetric oscillations, wherein the steering damping signal is generated by extracting a signal from the sensor data having the frequency corresponding to the asymmetric oscillations, time-shifting the extracted signal based on the phase corresponding to the asymmetric oscillations, and scaling the extracted signal;
• and
• modifying a movement of the vehicle using the speed damping signal and the steering damping signal.